• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2008.04a
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• pp.54-55
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• 2008

본 논문에서는 인간형 로봇의 태스크 실행 중 자율 감정 생성을 위하여 Three-layered hybrid architecture에 기반한 감정 반응 시스템을 제안한다. Three-layered hybrid architecture는 Deliberative layer, Reactive layer Hardware abstraction layer의 3단계의 계층으로 되어 있으며, 모바일 로봇의 자율 동작을 위해서 개발되었다. 본 연구에서는 저자가 개발중인 안드로이드 EveR-2의 감정 시스템에 적용하여 로봇의 태스크 동작 중에 외부의 자극들로부터 자신의 감정을 생성하고, 생성된 감정과 태스크를 조합하여 자신의 행동을 변화시키며 인간과 상호작용하는 로봇 감정 시스템을 구현하였다.

• Journal of Mechanical Science and Technology
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• v.15 no.5
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• pp.544-554
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• 2001

A shop floor can be considered as an important level to develop Computer Integrated Manufacturing system (CIMs). However, a shop floor is a dynamic environment where unexpected events continuously occur, and impose changes to the planned activities. To deal with this problem, a shop floor should adopt an appropriate control system that is responsible for the coordination and control of the manufacturing physical flow and information flow. In this paper, a hybrid control system is described with a shop floor activity methodology called Multi-Layered Task Initiation Diagram (MTD). The architecture of the control model contains three levels: i.e., he shop floor controller (SFC), the intelligent agent controller (IAC) and the equipment controller (EC). The methodology behind the development of the control system is an intelligent multi-agent paradigm that enables the shop floor control system to be an independent, an autonomous, and distributed system, and to achieve an adaptability to change of the manufacturing environment.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2004.05a
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• pp.198-203
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• 2004

This paper describes a real-time control architecture for DUSAUV (Dual Use Semi-Autonomous Underwater Vehicle), which has been developed at Korea Research Institute of Ships & Ocean Engineering (KRISO), KORDI, for being a test-bed oj development of technologies for underwater navigation and manipulator operation. DUSAUV has three built-in computers, seven thrusters for 6 degree of freedom motion control, one 4-function electric manipulator, one pan/tilt unit for camera, one ballasting motor, built-in power source, and various sensors such as IMU, DVL, sonar, and so on. A supervisor control system for GUI and manipulator operation is mounted on the surface vessel and communicates with vehicle through a fiber optic link. Furthermore, QNX, one of real-time operating system, is ported on the built-in control and navigation computers of vehicle for real-time control purpose, while MicroSoft OS product is ported on the supervisor system for GUI programming convenience. A hierarchical control architecture which consist of three layers (application layer, real-time layer, and physical layer) has been developed for efficient control system of above complex underwater robotic system. The experimental results with implementation of the layered control architecture for various motion control of DUSAUV in a basin of KRISO is also provided.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2015.10a
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• pp.401-404
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• 2015

This paper proposes a high-performance in-loop filter in HEVC(High Efficiency Video Coding) encoder for Ultra HD video processing in real time. HEVC uses in-loop filter consisting of deblocking filter and SAO(Sample Adaptive Offset) to solve the problems of quantization error which causes image degradation. In the proposed in-loop filter encoder hardware architecture, the deblocking filter and SAO has a 2-level hybrid pipeline structure based on the $32{\times}32CTU$ to reduce the execution time. The deblocking filter is performed by 6-stage pipeline structure, and it supports minimization of memory access and simplification of reference memory structure using proposed efficient filtering order. Also The SAO is implemented by 2-statge pipeline for pixel classification and applying SAO parameters and it uses two three-layered parallel buffers to simplify pixel processing and reduce operation cycle. The proposed in-loop filter encoder architecture is designed by Verilog HDL, and implemented by 205K logic gates in TSMC 0.13um process. At 110MHz, the proposed in-loop filter encoder can support 4K Ultra HD video encoding at 30fps in realtime.